/**
* This file is part of ORB-SLAM.
*
* Copyright (C) 2014 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <http://webdiis.unizar.es/~raulmur/orbslam/>
*
* ORB-SLAM is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM. If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef KeyFrameDatabase_hpp
#define KeyFrameDatabase_hpp

#include <vector>
#include <list>
#include <set>

#include "KeyFrame.hpp"
#include "Frame.hpp"
#include "ORBVocabulary.hpp"

#include<boost/thread.hpp>


namespace ORB_SLAM
{
    
    class KeyFrame;
    class Frame;
    
    class KeyFrameDatabase
    {
    public:
        
        KeyFrameDatabase(const ORBVocabulary &voc);
        KeyFrameDatabase();
        
        void add(KeyFrame* pKF);
        
        void erase(KeyFrame* pKF);
        
        void clear();
        
        // Loop Detection
        std::vector<KeyFrame *> DetectLoopCandidates(KeyFrame* pKF, float minScore);
        
        // Relocalisation
        std::vector<KeyFrame*> DetectRelocalisationCandidates(Frame* F);
        
    protected:
        
        // Associated vocabulary
        const ORBVocabulary* mpVoc;
        
        // Inverted file
        std::vector<list<KeyFrame*> > mvInvertedFile;
        
        // Mutex
        boost::mutex mMutex;
    };
    
} //namespace ORB_SLAM

#endif /* KeyFrameDatabase_hpp */
